function obj = coef_Jacob3_qt_pnp_func_new(in1)
coef_J3 = in1(:,3);
coef_J6 = in1(:,6);
coef_J8 = in1(:,8);
coef_J9 = in1(:,9);
coef_J23 = in1(:,23);
coef_J15 = in1(:,15);
coef_J24 = in1(:,24);
coef_J42 = in1(:,42);
coef_J60 = in1(:,60);
coef_J25 = in1(:,25);
coef_J34 = in1(:,34);
coef_J43 = in1(:,43);
coef_J52 = in1(:,52);
coef_J61 = in1(:,61);
coef_J17 = in1(:,17);
coef_J26 = in1(:,26);
coef_J44 = in1(:,44);
coef_J53 = in1(:,53);
coef_J18 = in1(:,18);
coef_J27 = in1(:,27);
coef_J36 = in1(:,36);
coef_J45 = in1(:,45);
coef_J54 = in1(:,54);
coef_J28 = in1(:,28);
coef_J37 = in1(:,37);
coef_J46 = in1(:,46);
coef_J55 = in1(:,55);
coef_J47 = in1(:,47);
coef_J56 = in1(:,56);
coef_J57 = in1(:,57);
coef_J58 = in1(:,58);
coef_J59 = in1(:,59);
obj = [-coef_J3+coef_J15,coef_J17.*2.0,coef_J18,-coef_J3+coef_J23.*3.0,coef_J24.*2.0,-coef_J3+coef_J25,coef_J26,coef_J27,coef_J28,coef_J3,-coef_J6+coef_J34,coef_J8.*-2.0+coef_J36.*2.0,-coef_J9+coef_J37,-coef_J6+coef_J42.*3.0,coef_J43.*2.0,-coef_J6+coef_J44,coef_J45,coef_J46,coef_J47,coef_J6,coef_J8.*-2.0+coef_J52.*4.0,-coef_J9+coef_J53.*3.0,coef_J8.*-2.0+coef_J54.*2.0,coef_J55.*2.0,coef_J56.*2.0,coef_J57.*2.0,coef_J8.*2.0,-coef_J9+coef_J58,coef_J59,coef_J60,coef_J61,coef_J9];
